{"id":"https://openalex.org/W2103418111","doi":"https://doi.org/10.1017/s0263574713001185","title":"Marsupial teams of robots: deployment of miniature robots for swarm exploration under communication constraints","display_name":"Marsupial teams of robots: deployment of miniature robots for swarm exploration under communication constraints","publication_year":2014,"publication_date":"2014-01-15","ids":{"openalex":"https://openalex.org/W2103418111","doi":"https://doi.org/10.1017/s0263574713001185","mag":"2103418111"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574713001185","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713001185","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080796684","display_name":"Micael S. Couceiro","orcid":"https://orcid.org/0000-0001-6641-6090"},"institutions":[{"id":"https://openalex.org/I293362453","display_name":"Polytechnic Institute of Coimbra","ror":"https://ror.org/01n8x4993","country_code":"PT","type":"education","lineage":["https://openalex.org/I293362453"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]},{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Micael S. Couceiro","raw_affiliation_strings":["Institute of Systems and Robotics (ISR), University of Coimbra, Coimbra, Portugal","RoboCorp, Engineering Institute of Coimbra (ISEC), Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics (ISR), University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"RoboCorp, Engineering Institute of Coimbra (ISEC), Coimbra, Portugal","institution_ids":["https://openalex.org/I293362453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046722511","display_name":"David Portugal","orcid":"https://orcid.org/0000-0002-1447-0439"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"David Portugal","raw_affiliation_strings":["Institute of Systems and Robotics (ISR), University of Coimbra, Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics (ISR), University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085631032","display_name":"Rui P. Rocha","orcid":"https://orcid.org/0000-0002-4612-3554"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rui P. Rocha","raw_affiliation_strings":["Institute of Systems and Robotics (ISR), University of Coimbra, Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics (ISR), University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009025941","display_name":"N. M. Fonseca Ferreira","orcid":"https://orcid.org/0000-0002-2204-6339"},"institutions":[{"id":"https://openalex.org/I293362453","display_name":"Polytechnic Institute of Coimbra","ror":"https://ror.org/01n8x4993","country_code":"PT","type":"education","lineage":["https://openalex.org/I293362453"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno M. F. Ferreira","raw_affiliation_strings":["RoboCorp, Engineering Institute of Coimbra (ISEC), Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"RoboCorp, Engineering Institute of Coimbra (ISEC), Coimbra, Portugal","institution_ids":["https://openalex.org/I293362453"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5080796684"],"corresponding_institution_ids":["https://openalex.org/I293362453","https://openalex.org/I4210125590","https://openalex.org/I76903346"],"apc_list":null,"apc_paid":null,"fwci":0.6896,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.75863917,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"32","issue":"7","first_page":"1017","last_page":"1038"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8085025548934937},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7308502197265625},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6847198009490967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.667971134185791},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6211569905281067},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6085020303726196},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6054965257644653},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47328728437423706},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4465149939060211},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42093175649642944},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.41591277718544006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3950904309749603},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3336677551269531},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.25984692573547363},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16857755184173584},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.12355199456214905},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.07255673408508301}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8085025548934937},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7308502197265625},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6847198009490967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.667971134185791},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6211569905281067},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6085020303726196},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6054965257644653},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47328728437423706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4465149939060211},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42093175649642944},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.41591277718544006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3950904309749603},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3336677551269531},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.25984692573547363},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16857755184173584},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12355199456214905},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.07255673408508301},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574713001185","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713001185","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W191823796","https://openalex.org/W774034202","https://openalex.org/W1493007304","https://openalex.org/W1569773819","https://openalex.org/W1769567209","https://openalex.org/W1820629902","https://openalex.org/W1973409684","https://openalex.org/W1976428129","https://openalex.org/W1983257513","https://openalex.org/W1984818687","https://openalex.org/W2001058677","https://openalex.org/W2006270299","https://openalex.org/W2007846897","https://openalex.org/W2013284257","https://openalex.org/W2014653205","https://openalex.org/W2026598440","https://openalex.org/W2029584690","https://openalex.org/W2050913311","https://openalex.org/W2054452720","https://openalex.org/W2058454640","https://openalex.org/W2060069920","https://openalex.org/W2087070363","https://openalex.org/W2098043496","https://openalex.org/W2109690186","https://openalex.org/W2145450150","https://openalex.org/W2150010456","https://openalex.org/W2150776540","https://openalex.org/W2169944694","https://openalex.org/W2329985799","https://openalex.org/W2402221987","https://openalex.org/W2582998992","https://openalex.org/W2626163546","https://openalex.org/W2769692274","https://openalex.org/W2986444355","https://openalex.org/W3148166280","https://openalex.org/W4245286259","https://openalex.org/W4302917287","https://openalex.org/W6652421366"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W2518382144","https://openalex.org/W1988876749","https://openalex.org/W3094438089","https://openalex.org/W65954170","https://openalex.org/W1600534566","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166"],"abstract_inverted_index":{"SUMMARY":[0],"Mobile":[1],"Ad":[2],"hoc":[3],"Networks":[4],"have":[5],"attracted":[6],"much":[7],"attention":[8],"in":[9,36,52,75,92,95,115,167],"the":[10,16,43,48,62,65,96,153,156,171],"last":[11],"years,":[12],"since":[13,61],"they":[14],"allow":[15],"coordination":[17],"and":[18,54,85,102,148],"cooperation":[19,127],"between":[20,50,67],"agents":[21,51],"belonging":[22],"to":[23],"a":[24,31,37,112,138,159,174],"multi-robot":[25],"system.":[26],"However,":[27],"initially":[28],"deploying":[29],"autonomously":[30,123],"wireless":[32],"sensor":[33],"robot":[34],"network":[35],"real":[38,53,147],"environment":[39],"has":[40],"not":[41],"taken":[42],"proper":[44],"attention.":[45],"Moreover,":[46],"maintaining":[47],"connectivity":[49],"complex":[55],"environments":[56],"is":[57],"an":[58],"arduous":[59],"task":[60],"strength":[63],"of":[64,98,105,140,155,177],"connection":[66],"two":[68,83],"nodes":[69],"(i.e.,":[70],"robots)":[71],"can":[72],"change":[73],"rapidly":[74],"time":[76],"or":[77],"even":[78],"disappear.":[79],"This":[80],"paper":[81],"compares":[82],"autonomous":[84],"realistic":[86],"marsupial":[87],"strategies":[88],"for":[89,173],"initial":[90],"deployment":[91],"unknown":[93],"scenarios,":[94],"context":[97],"swarm":[99],"exploration:":[100],"Random":[101],"Extended":[103],"Spiral":[104],"Theodorus":[106],".":[107,134],"These":[108],"are":[109,122,143],"based":[110,162],"on":[111,163],"hierarchical":[113],"approach,":[114],"which":[116],"exploring":[117],"agents,":[118,130],"named":[119],"scouts":[120],",":[121],"deployed":[124],"through":[125],"explicit":[126],"with":[128,137],"supporting":[129],"denoted":[131],"as":[132],"rangers":[133],"Experimental":[135],"results":[136],"team":[139],"heterogeneous":[141],"robots":[142],"conducted":[144],"using":[145,158],"both":[146],"virtual":[149],"robots.":[150],"Results":[151],"show":[152],"effectiveness":[154],"methods,":[157],"performance":[160],"metric":[161],"dispersion.":[164],"Conclusions":[165],"drawn":[166],"this":[168],"work":[169],"pave":[170],"way":[172],"whole":[175],"series":[176],"possible":[178],"new":[179],"approaches.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}